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<div class="title">mssegmentation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// this file is extracted from OpenCV/modules/gpu/src/mssegmentation.cpp</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// to get access to the intermediate results of meanShiftSegmentation()</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// minor changes to compile correctly with pcl::cuda and namespace reorganization</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">/*M///////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//  By downloading, copying, installing or using the software you agree to this license.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  If you do not agree to this license, do not download, install,</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//  copy or use the software.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//                           License Agreement</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//                For Open Source Computer Vision Library</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// Copyright (C) 2009, Willow Garage Inc., all rights reserved.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// Third party copyrights are property of their respective owners.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without modification,</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//   * Redistribution&#39;s of source code must retain the above copyright notice,</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//     this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">//   * Redistribution&#39;s in binary form must reproduce the above copyright notice,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">//     this list of conditions and the following disclaimer in the documentation</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//     and/or other materials provided with the distribution.</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//   * The name of the copyright holders may not be used to endorse or promote products</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">//     derived from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// This software is provided by the copyright holders and contributors &quot;as is&quot; and</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">// any express or implied warranties, including, but not limited to, the implied</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// warranties of merchantability and fitness for a particular purpose are disclaimed.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">// In no event shall the Intel Corporation or contributors be liable for any direct,</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">// indirect, incidental, special, exemplary, or consequential damages</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">// (including, but not limited to, procurement of substitute goods or services;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">// loss of use, data, or profits; or business interruption) however caused</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">// and on any theory of liability, whether in contract, strict liability,</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// or tort (including negligence or otherwise) arising in any way out of</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">// the use of this software, even if advised of the possibility of such damage.</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">//M*/</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;opencv2/gpu/gpu.hpp&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">// Declarations</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">   68</a></span>&#160;<span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">DjSets</a></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">DjSets</a>(<span class="keywordtype">int</span> n);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">int</span> find(<span class="keywordtype">int</span> elem);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">int</span> merge(<span class="keywordtype">int</span> set1, <span class="keywordtype">int</span> set2);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span> init (<span class="keywordtype">int</span> n);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    vector&lt;int&gt; parent;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    vector&lt;int&gt; rank;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    vector&lt;int&gt; size;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">DjSets</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">DjSets</a>&amp;);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">void</span> operator =(<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">DjSets</a>&amp;);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;};</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">   87</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">GraphEdge</a></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">GraphEdge</a>() {}</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">GraphEdge</a>(<span class="keywordtype">int</span> to, <span class="keywordtype">int</span> next, <span class="keyword">const</span> T&amp; val) : to(to), next(next), val(val) {}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">int</span> to;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">int</span> next;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    T val;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;};</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">   98</a></span>&#160;<span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">Graph</a></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">GraphEdge&lt;T&gt;</a> <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">Edge</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">Graph</a>(<span class="keywordtype">int</span> numv, <span class="keywordtype">int</span> nume_max);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">void</span> addEdge(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to, <span class="keyword">const</span> T&amp; val=T());</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    vector&lt;int&gt; start;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    vector&lt;Edge&gt; edges;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">int</span> numv;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">int</span> nume_max;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">int</span> nume;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">Graph</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">Graph</a>&amp;);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordtype">void</span> operator =(<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1detail_1_1_graph.html">Graph</a>&amp;);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;};</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">  119</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;{</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a>() {}</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a>(<span class="keywordtype">int</span> dr, <span class="keywordtype">int</span> dsp) : dr(dr), dsp(dsp) {}</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordtype">bool</span> operator &lt;(<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">return</span> dr + dsp &lt; other.dr + other.dsp;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">int</span> dr;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">int</span> dsp;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;};</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">  132</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">SegmLink</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">SegmLink</a>() {}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">SegmLink</a>(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to, <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a>&amp; val)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        : from(from), to(to), val(val) {}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordtype">bool</span> operator &lt;(<span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">SegmLink</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordflow">return</span> val &lt; other.val;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordtype">int</span> from;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordtype">int</span> to;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">SegmLinkVal</a> val;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;};</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">// Implementation</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;DjSets::DjSets(<span class="keywordtype">int</span> n)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;{</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    init (n);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> DjSets::find(<span class="keywordtype">int</span> elem)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;{</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">int</span> set = elem;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">while</span> (set != parent[set])</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        set = parent[set];</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">while</span> (elem != parent[elem])</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordtype">int</span> next = parent[elem];</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        parent[elem] = set;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        elem = next;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">return</span> set;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> DjSets::init(<span class="keywordtype">int</span> n)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;{</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    parent.resize(n);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    rank.resize(n, 0);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    size.resize(n, 1);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; n; ++i)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        parent[i] = i;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;}</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> DjSets::merge(<span class="keywordtype">int</span> set1, <span class="keywordtype">int</span> set2)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;{</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">if</span> (rank[set1] &lt; rank[set2])</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        parent[set1] = set2;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        size[set2] += size[set1];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">return</span> set2;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">if</span> (rank[set2] &lt; rank[set1])</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        parent[set2] = set1;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        size[set1] += size[set2];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">return</span> set1;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    parent[set1] = set2;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    rank[set2]++;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    size[set2] += size[set1];</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">return</span> set2;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;}</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;Graph&lt;T&gt;::Graph(<span class="keywordtype">int</span> numv, <span class="keywordtype">int</span> nume_max) : start(numv, -1), edges(nume_max)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;{</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    this-&gt;numv = numv;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    this-&gt;nume_max = nume_max;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    nume = 0;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;}</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">void</span> Graph&lt;T&gt;::addEdge(<span class="keywordtype">int</span> from, <span class="keywordtype">int</span> to, <span class="keyword">const</span> T&amp; val)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;{</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    edges[nume] = Edge(to, start[from], val);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    start[from] = nume;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    nume++;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;}</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> pix(<span class="keywordtype">int</span> y, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> ncols)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;{</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">return</span> y * ncols + x;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> sqr(<span class="keywordtype">int</span> x)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;{</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">return</span> x * x;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> dist2(<span class="keyword">const</span> cv::Vec4b&amp; lhs, <span class="keyword">const</span> cv::Vec4b&amp; rhs)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;{</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">return</span> sqr(lhs[0] - rhs[0]) + sqr(lhs[1] - rhs[1]) + sqr(lhs[2] - rhs[2]);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">inline</span> <span class="keywordtype">int</span> dist2(<span class="keyword">const</span> cv::Vec2s&amp; lhs, <span class="keyword">const</span> cv::Vec2s&amp; rhs)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;{</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">return</span> sqr(lhs[0] - rhs[0]) + sqr(lhs[1] - rhs[1]);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;PCL_EXPORTS <span class="keywordtype">void</span> meanShiftSegmentation(<span class="keyword">const</span> cv::gpu::GpuMat&amp; src, cv::Mat&amp; dst, <span class="keywordtype">int</span> sp, <span class="keywordtype">int</span> sr, <span class="keywordtype">int</span> minsize, detail::DjSets &amp;comps, cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS, 5, 1) );</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;} <span class="comment">// namespace</span></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1detail_1_1_dj_sets_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1detail_1_1_dj_sets.html">pcl::cuda::detail::DjSets</a></div><div class="ttdef"><b>Definition:</b> mssegmentation.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1detail_1_1_graph_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1detail_1_1_graph.html">pcl::cuda::detail::Graph</a></div><div class="ttdef"><b>Definition:</b> mssegmentation.h:99</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1detail_1_1_graph_edge_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1detail_1_1_graph_edge.html">pcl::cuda::detail::GraphEdge</a></div><div class="ttdef"><b>Definition:</b> mssegmentation.h:88</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1detail_1_1_segm_link_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1detail_1_1_segm_link.html">pcl::cuda::detail::SegmLink</a></div><div class="ttdef"><b>Definition:</b> mssegmentation.h:133</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1detail_1_1_segm_link_val_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1detail_1_1_segm_link_val.html">pcl::cuda::detail::SegmLinkVal</a></div><div class="ttdef"><b>Definition:</b> mssegmentation.h:120</div></div>
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